Electric servomotor unit



May 18, 1948. c, L, PAULUS 2,441,593

ELECTRIC SERVOMOTOR UNIT Filed may 27, 1944 5 sheets-sheet 1 CENTER/N6 rr New May 18, 1948. c. L. PAuLus 2,441,593

ELECTRIC SERVOMOTOR UNIT Filed may 27, 1944 5 Sheets-sheet 2 a j@ 44a 37 l M9 l l l l j 4 .1 42 4Z@ H n INVENTOR.

Z CHAP/.cs L .Pm/ Us May 18, 1948. c. 1 PAuLus ELECTRIC SERVOMOTOR UNIT Filed May' 27, 1944 5 Sheets-Sheet 5 IN V EN TOR.

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May 18, 1948. c. n.. PAuLus ELECTRIC SERVOMOTOR UNIT Filed May 27, 1944 5 Sheets-Sheet 4 TZ'OENEYS May 18, 194.8. c. l.. PAuLus ELECTRIC SERVOMOTOR UNIT Filed lay 27, 1944 5 Sheets-Sheet 5 Patentedn'MaylB, 1948 ELECTBIG SERVGMOTOB UNIT Charles L. Paulus, Dayton, Ohio Application May 27, 1944, Serial No. 537,671

(Cl. S18-297) (Granted under the act of March 3, 1883, as amended April 30, 1928; 370 0. G. 757) ZCIaims.

'Ihe invention described herein may be manufactured and used by or for Government for governmental purposes, without the payment to me of any royalty thereon.

This invention relates to improvements in servomotor units or "power packages" as they are sometimes called. Units of this kind are employed on radio-controlled airplane targets, on railway, land borne and water borne targets, on power driven (flying) bombs, on glide bombs, on autom-atie pilots, and at various points on aircraft, such as for the control of engine throttles, elevators, cowl flaps, automatic propellers, retractable landing gear, and pressure cabin vents. In general these units consist of a small electric motor, under the direct control of an operator or controlled automatically, a train of reduction gearing driven by the motor, a torque arm moved by the gearing and connected mechanically with the object to be controlled, cams operated by the gearing, and limit switches operated by the cams and connected in the motor circuit to control the extent of movement of the torque arm. This broad combination is old, being shown in a number of patents, for example, Patent No. 2,307,781 to Holloman, Paulus and Stout, dated January 12, 1943.

An object of this invention is to provide an improved servomotor unit wherein the limit switches are readily adjusted manually from the exterior of the unit housing. A more specific object is to provide disks which are secured to the cams which operate the limit switches, these disks being then clamped to the torque arm so that the adjustment will not change during operation. Another object is to provide a centering switch to control the position of the torque arm. said centering switch being adjustable in the saine manner as the limit switches. Other objects will be apparent from the following description of a preferred embodiment of the invention.

In the accompanying drawings forming a part of this specification:

Fig. 1 is a diagrammatic view showing an embodiment of the invention in use as a throttle motor in an airplane;

Fig. 2 is a horizontal section, through a unit,

von a full size scale, showing part of the motor in phantom;

Fig. 3 is an end elevation with the cover plate removed to show the limit switches. the relay housing being broken away;

F18. 4 is an end elevation, partly broken away, showing a unit employing a clutch;

Fig. 5 is a side elevation, partly broken away, of the unit of Fig. 4;

Fig. 6 is a detail sectional view showing a. modified form of clutch Fig. 7 is a fragmentary end elevation showing a modified form of limit switch; and

ullig. 8'is a wiring diagram of the electric circ Referring particularly to the drawings.- and first to Fig. 2, the servomotor unit has a motor housing Il detachably secured to a casing I2 which encloses a set of reduction gears, cams, limit switches, and other parts to be described. Also detachably secured to casing I2 is a relay housing Il which encloses relays not shown except schematically in the wiring diagram. These relays are coupled into the circuit of a direct current reversible motor I4, as will be understood from the wiring diagram Fig. 8, and automaticaily connect or disconnect the motor when the limit switches make and break the relay circuits. Motor i4 has a commutator Ila and a pair of brushes Mb carried on a brush holder Mc, and may run on 6 v., 12 v. or 24 v. current, such as is available in aircraft. Motor I4 also has a shaft Il rotating in self-aligning bearings I8 which are supported by the motor housing II. and said shaft extends outside of housing Il and into casing l2. A pinion Il is secured to motor shaft Il and meshes with a spur gear Ila which is supported on a stub shaft (not shown) fixed to casing I2. Spur gear lla meshes with a larger spur gear i8 which is carried by and rotates freely on a shaft I8 journaled in the casing l2 at one end as indicated at 20. A wall 2i, which is integral with casing i2, but located within the confines of the latter, has a journal 22 aligned with the journal 20 to provide a second bearing for shaft I8. Secured to spur gear It is a pinion 23 which meshes with a large spur gear 24 rotatable on a stub shaft 25, the latter being fixed to wall 2i by a lock nut 26 and washer 21. Secured to spur gear 24 is a pinion 2t which drives another large spur gear 20 which is freely rotatable on shaft i9. Still another pinion 20 is fixed to spur gear 29 and meshes with a large spur gear 3i, a pinion 32 being secured to the gear 3l, both rotating freely on the stub shaft 25. Pinion 32 meshes with a large gear 3l which is secured by rivets 24 to a circular flange 35 integral with shaft Il. so that shaft I9 is forced to turn with spur gear 33. Shaft I0 extends well beyond the casing I2, and when the motor is energized, provides a slowly moving shaft which is oscillatable in one direction or the other according to the direction of rotation of the motor. The speed of shaft il may be about 1.33 to 3.0 R. P. M., and its torque may be from 'I5 to 150 inch pounds with gear ratios of 2800z1 down to 615:1. A split or twopart plate Il is made fast by screws 31 to the end of casing I2, primarily to protect the limit switches and their contacts. Thus the motor, reduction gear train. relays, wiring and switches are fully enclosed by a protective housing.

At or adjacent the end of the shaft il and carried thereby is a lever Il which may be termed a torque arm. In the form of Fig. 2, lever 40 is keyed or otherwise rigidly secured to shaft il. However, for many uses the torque arm should be clutched to the shaft. The preferred form of clutch comprises a pair of friction disks Ii (Fig. carried by shaft il which bear on either side of the enlarged lower end 40a of the torque arm. A set of dished spring metal washers I2, 43, Il, a are also carried by shaft Il and a large nut 45 is threaded on the end of the shaft Il, being locked by lock nut It. When nut 4l is tightened against the set of washers, the friction disks are tightened against the base of the torque arm, and the latter then must oscillate with shaft I0. However, the construction is such that a superior force may cause the torque arm to slip onshaft I9, and this is especially important when the servomotor unit is being employed in an arrangement like the one illustrated in Fig. 1, to which reference should now be made.

Hand throttle lever l1 is shown pivotally connected to rod Il to which the outer end of the torque arm Il of one of the servomotor units is connected as at 49. A carburetor 5l has a buttertiy valve Il controlled by an arm l2 whose outer end is pivotally connected with rod il which extends to a pivotal connection with the torque arm. Normal operation by remote control will permit the hand throttle lever 41 and the butterfly valve 5i to be moved between the limits set by the limit switches upon rotation of the unit motor. Since the gear train may be self-locking due to the necessary high gear ratios, manual (overpowering) operation of the hand throttle ylever will cause the butterfly valve to be moved 5l is removed or loosened since its function is assumed by the clutch adjacent the torque arm. This arrangement is of value because it obviates overcoming the friction of clutch I4 by the power of the servomotor, and permits the operation, in an emergency, of the hand throttle without overloading the motor or damaging the'gear train.

Referring to Figs. 2 and 3, there are three cams 55, 56, and Iil which operate the switches to be described, said cams each being preferably a ilat metal disk made fast to a cylindrical sleeve carried by shaft Il and extending outside of plate 36. Preferably there are three telescoped sleeves 58, 59, 6I) for the cams 55,58, and Il, respectively, and the outer sleeve 58 is shortest, the inner sleeve 80 being longest, all the sleeves being relatively rotatable. vCam-adjusting disks Il, 62, 83, are secured to the outer ends of sleeves Il, 5l, 60, respectively. Disks 8|, $2, t3 and also the cams 55, 58, 51 may be fastened to the opposite ends of their respective sleeves by a spinning process, or they may be soldered or welded. If preferred,

4 either the disks or the cams may be integral with their respective sleeves. Obviously. the cams. sleeves, and disks, once assembled, form a unitary assembly which may be slipped over the end of shaft Il. Disks BI, l2, Il are dished and generally speaking are nested, but are spaced slightly apart to permit each disk to be gripped by clamping devices to secure it to the torque arm as will now be described. The dishedshapes of the disks 3|, l2, t3 ensure the proper spacing apart of the disk edges and also the necessary spacing of said edges from the plate 38 to give clearance for the clamping devices as the latter swing with the torque arm.

The torque arm It is provided with several apertures Il located toward its free end to permit attachment of the throttle control rod Il thereto at different points to vary the moment arm. At points about midway between the ends of the torque arm three straight pins It are nxed, these pins projecting inwardly from the inner face of the torque arm. Carried on each pin It are -a pair of clamping jaws Il, tl, laws Il being at least twice as thick as jaws 61. The clamping jaws il, Il of each pair are separate parts press ed together at their outer ends, while the inner ends of each pair of clamping jaws lie on opposite sides of one of the disks 0i, t2, il. Three clamping screws tl have heads on the outside of the torque arm and have smooth shanks passing through the torque arm as shown, with reduced ends 08a provided with screw threads which engage threads in the thick clamping jaws Bl. The shoulders "b on the screws Il engage the outer faces of the thin clamping jaws il. When screws I9 are turned by a screw driver, jaws 61 cannot move as a whole because of shoulders 89h, but jaws Il are pulled in, and the ends of the relatively flexible jaws I1 bend to frictionally grip the disk edges. The result is, each disk is secured rigidly to the torque arm to swing therewith. As the torque arm is normally clutched to shaft IB, the disks likewise swing with shaft I3, causing thecams II, Il, l1 to oscillate to an equal extent. A strong spring wire 'Il (Fig. 4) is bent under the head of the middle screw 6l and over the heads of the two outer screws to prevent said screws from turning, once they have been set up to grip the disks.

By the described construction shown in detail in Fig. 6, the torque arm will normally oscillate with the motor-driven shaft il, yet may move independently of said shaft if suddenly subjected to a powerful thrust, without injury to any of the parts. Furthermore, whatever the movement of the torque arm, the cams will partake of the same angular movement, or in other words, the cams will participate in all motions of the torque arm whether derived from the driving motorl Il or from an overpowering force exerted by the pilot on thethrottle lever, `for example. The cams can .never change their adjustment or angular relationship to the torque arm, unless such adjustment is deliberately made. In order to change that adjustment, each of the screws t! must be turned to loosen the grip of the pairs of clamping jaws 61, 8l on the cam-adjusting disks. When these disks are no longer clamped, they may be turned by the fingers of the operator, without disconnecting or disassembling any parts, and the cams will turn with them to effect different action of the limit and centering switches, which will now be described.

In the embodiment of Fig. 3, the limit switch and centering switch assemblies each comprise abracket 1| securedatoneendtothe-wallll by a screw 18. Another screw 18 passing through an arcuate. slot 18 in the opposite end oi' each bracket 1I will cooperate with screw 18 to hold the bracket rigidly on wall 2|, whilepermittin'g angular adjustment of the bracket', screw 18 serving as a pivot when the angular adjustment is ,being made. Secured to each bracket 1I by screws 11 are a pair oi' parallel metalstx'ips 18, 88 held apart by insulating blocks 8|through which screws 11 also pass. Adjacent each metal strip 18, 88 are conductors 82. 88, said conductors being preferably iiexible metal strips of high con ductivity. Conductors 82. 88, are soldered at their upper ends to'wires (see Fig. 8) or other leads connected to the relays in housing I3. Opposed contacts 88 are at the tree ends of each pair of flexible spring metal or high conductivity,v is midway between conductors 82, 83 and spaced therefrom by insulators 8|. An extension piece 88 is riveted to each conductor 85 and carries an insulating cam follower81 which rides over the edge of one of the cams as the latter is oscillated. (ontacts .88, 88 are on opposite sides of each extension piece 88 to make contact with either contact 84 as the moving cam swings the extension piece in one direction or the other. Extension pieces 88 may be insulators as the current flows only through conductors 82, 88, .contacts 84. contacts 88, 88 and the central. conductors 88. The limit switch and centering switch assemblies on opposite sides of shaft I8 are substantially alike, except that both sides oi the centering switch are normally open while both sides of the limit switch are normally closed, and thev cams which actuate them will have diil'erent angular adjustments to eifect operationl of the switchesat diilerent times. Metal strips 18, 88 insure proper action of the flexible conductors 82,

83 since they prevent excessive bending of said conductors and cause a quick break at the contacts. The resiliency of the central conductors 88 tends to hold each cam follower on the cam, and this tendency may be greatly augmented by adjusting brackets 1I toward shaft I8;

The limit switch assembly, generally designated by 8|, will causethe torque arm to swing to one limit of movement and then by reversal of the motor, to swing to the other limit ot movement, and so on, assuming the proper connections are made and the motor is energized. However, it has been previously stated that there are three cams with three adjusting disks, although but two cams are necessary tol control the limits of movement. The third cam isl provided to effect an automatic centering of the torque arm. Iig. 4 shows that letters L, "0, and 3" are stamped on the lower part of the torque arm, each letter being directly below one of the clamping screws 88. "L" indicates the adjustment for left movement, R" the adjustment for right movement. and "C" the adjustment for centering. The action of the centering switch. generally designated by 8|, is to stop the torque arm always at the center, which-is adjustable and hence need not be centrally disposed or halfway between the limits of movement but may be anywhere between said limits.

Referring to the wiring diagram, Fig. 8, the motor used' is of the compound direct current type having a shunt eld 8l connected across the power lines 82 and 88, and a series eld 88l connectible to the armature of the motor I 4 through `of conductors 82. 88. Another conductor 85, also with both sides open, that is, in the positionthey occupy when the device is not in use, whereby no current flows to the coils of relays 88 and 81 and the relays therefore both remain open as shown and the motor I4 therefore remains at rest.

For automatic operation of the device. the master switch 88 is shifted to its left contact whereby -current is conveyed to the automatic switch 88.

When thereafter an unwanted change in the attitude of the plane causes the automatic switch 88 to engage its upper contact, current will be directed from said upper contact to the coil of the l relay 86, and will return through the right contact of the limit switch 8| to the power line 82 whereby the .relay 88 will operate to engage its lower contact, thereby completing acircuit from the power line 88 through the lower contact of the relay 88 through the armature of the motor Il, through the upper contact of the relay 81 and back to the power line 82, whereby the motor I4 will be operated in a direction to correct the unwanted attitude until such correction disengages the upper contact of the automatic switch 88, or, if that is toolong delayed, until the limit switch 8| disengages' its right contact and thereby de-energizes the coil of the relay 88.

Conversely, when an opposite unwanted change in the attitude of the plane causes the automatic switch 88 to engage its lower contact, current will be directed from said lower contact to the coil of the relay 81 and will return through the left contact of the limit switch 8| to the power line 82, whereby the relay 81 will engage its lower-.con-

tact, thereby completing a, circuit from the power line 88 through the lower contact of the relay 81, through the armature of the motor I 4, through the upper contact of the relay 88 and back to the power line 82, whereby the motor I4 will be operated in the other direction to correct the unwanted attitude until such correction disengages the lower contact of the automatic switch 88, or. if that is too long delayed, until the limit switch 8| disengages its left contact.

When both relays 88 and 81 are in the open position shown, the armature of the motor Il is shorted on itself, thereby providing a powerful brake for quickly bringing the armature to rest when it is disconnected from the line current.

'I'he structural detalls of the limit switch 8| and the limit switch operating cams 88 and l1 are shown in Fig. 3 as being in the central or neutral positionwhere it will be seen that as long as the cam follower of the limit switch 8| rests on the cam 81 as shown, both sides of the limit switch 8| will remainl closed, but that a predetermined rotation of the cams 58-51, in one or the other direction will open one or the other of the switches to stop rotation of the shaft I8. For purposes of illustration it may be assumed that energization of the coil of the relay 88 will operate the motor I4 in a direction which will rotate the cams 88-81 clockwise and energization of the coil of the relay 81 will operate the motor Il in a direction which will rotate the cams 88-81 anticlockwise. The amount of rotation of the shaft I8 before rotation is arrested by the limit cams 88-81 may be adjusted by the clamp means 81, 88, 88 as hereinbefore explained. Y

The centering switch 88, also shown in detail relays 88 and 81, whereby the motor I4 may be 18 in Fig. 3, is made to function by operating the anims master switch Il to engage its right contact (NEUT). The centering switch is also shown in Pig. 3 as being in the center or neutral position, the cam followed I1 being midway between the high and the low surface of the cam Il, whereby both sides of the switch are open.

Slight rotation of the centering cam il clockwise, however, will engage the upper contacts of the switch Il, Fig. 3 (left contact, switch 0I, Fig. 8). When the cam Il of the centering switch 90 is thus oil center clockwise, the upper contacts of switch 9| Fig. 3 (left contact switch 00 Fig. 8) are engaged for anticlockwlse rotation of the shaft Il. Thereafter, if the master switch Il is moved to the right contact (NEUT) a circuit will be completed by way of the relay 01 for anticlockwlse rotation of the cam l to return the shaft Il to the central or neutral position. Obviously, when the master switch 98 is used-to return the shaft Il to the neutral position, the gyro switch 90 is momentarily disconnected from the electric circuit.

of conductor lllandelosing or eitherottwo cir-- cuits through contacts i, |20, |20. The circuit closing or opening will be very rapid because the lift of the cam on follower |30 is multipled by the ratio of the total length of conductor Ill to the length of the moment arm of the cam follower.

The wiring diagram of Fig. 8 will be applicable to 'I'he above recites appropriate procedure for returning the shaft I9 to its central. or neutral position by way of the manual switch 90 and centering switch 90 when it is clockwise off center.

Obviously when it is anticlockwlse oil center the centering switch 90 will engage its right contact Fig. 8, which, upon movement of the switch 90 to NEUT, will rotate the shaft clockwise until the cam 55 and shaft i0 are returned to their home position. This home position may, however, be varied and adjusted by the clamping means 01, 80, 00 hereinbefore described.

Now referring to Fig. 6, the torque arm 40 is shown secured to shaft I9 by a different type of clutch; otherwise the action is exactly the same. Sleeve |00 is secured by a key |0| to the shaft and passes through a bore |02 in the end of the torque arm. Another sleeve |09 fits over sleeve |00 and is secured thereto by a key |04, so that the two sleeves cannot rotate relative to each other, but turn with the shaft. Torque arm I0 is free to swing on sleeve |00 but is normally frictionally gripped between friction disks |05, |08 on opposite sides. Sleeve |09 is slidable on key |04 and is pressed against disk |05 by a strong coil spring |01 which surrounds sleeve |00 and is coniined by washer |08 and nut |09, the latter being threaded on a screw-threaded portion |00a of sleeve |00. Further to hold the parts together, shaft i9 has a reduced screw-threaded end portion ||0 and a lock nut is threaded on portion ||0 to secure nut |09. Tension of the coil spring is adjusted by turning nut |09,

In the modification of Fig. 7, a quick acting centering switch isvshown. The servomotor housing ||5 has a wall ||6 which is like wall 2| and shaft |I1, which projects through wall ||6, is like shaft i9. Three cams ||8, ||9, are indicated as mounted onshaft ||1 and are angularly adjustable by means of arcuate slots |2| and screws |22 which pass through the slots and into a circular disk |23 fixed to shaft ||1. A bracket |24 is supported by and swingable on a screw |25 which enters wall H6. Flexible conductors |26, |21 having contacts |28, |29 at their free ends are supported by screws upon the bracket |20 and are spaced apart by insulating blocks |3| through which screws |30 also pass. Metal strips |32 support conductors |26, |21 and prevent said conductors from approaching too close to each other. Wires (not shown) are soldered or otherwise electrically connected to conductors |26, |21 and lead to the relays in the motor circuit. Conthe construction of Fig. '1. While the switch of Fig. 'I is described as a centenas switch, the same construction may be employed for the limit switch. although there must be one more conductor, between conductors |28 and |21, to make the two circuits controlled by the limit switch. It will likewise be clear that the cams of Fig. 7 may be adjusted in the manner described in connection with Fig. 2.

Many other changes and modiiications may be resorted to within the scope oi' the appended claims.

What I claim is:

1. In an electric servo mechanism, a housing, speed reducing gearing within said housing, a reversible electric motor attached to the input end of said gearing for driving said gearing, a rocker shaft drivably secured to the output end of said gearing, bearings for rotatably supporting said rocker shaft within said housing, one end of said rocker shaft projecting through one wall oi said housing, a rocker arm fast on said rocker shaft outside said housing, means for completing circuits through said electric motor for clockwise or anticlockwlse operation of said rocker arm, a normally closed limit switch within said housing having one set of contacts separable for opening the motor circuit when said rocker arm has rocked away from a neutral position through a preselected clockwise angular` movement and another set separable for opening the motor circuit when said rocker arm has rocked away from the neutral position through a preselected anticlockwise angular movement, a normally open centerlng switch within said housing having one set of contacts closable for reversing the motor circuit when the rocker arm has been rocked clockwise away from the neutral position, and another ciosable for reversing the motor circuit when the rocker arm has been rocked anticlockwlse away from the neutral position, three cams within said housing, one for opening each set of contact points of the limit switch and the other for opening both sets of contact points of the centering switch, three concentric hollow shafts, the inner one rotatable on said rocker shaft and each rotatable within the next, one being drivably secured to each cam, said hollow shafts extending through the said one wall of said housing, three discs, one drivably secured on each hollow shaft outside said housing adjacent said rocker arm, and three clamps on said rocker arm, one for each disc for clamping a selected point on said disc to said rocker arm, whereby the cams within the housing may be adjusted'outside the housing for arresting said rocker arm at selected angular positions.

2. In an electric servo mechanism, a closed housing, speed reducing gearing within said housing, a reversible electric motor attached to said gearing for driving said gearing, a rocker shaft drivably secured to the driven end of said gearing, bearings for rotatably supporting said rocker shaft, an end of said rocker shaft projecting through one wall cf said housing, a rocking member fast on said rocker shaft outside said housing, means for completing circuits through said electric motor for clockwise or anticlockwise operation of said rocking member, a normally closed limit switch within said housing having one set of contacts separable for opening the motor circuit when said rocking member has rocked away from a neutral position through a preselected clockwise angular movement and another set separable for opening the motor circuit when said rocking member has rocked away from the neutral position through a preselected anti- 4 clockwise angular movement, a normally open centering switch within said housing having one set of contacts closable for reversing the motor circuit when the rocking member has been rocked clockwise away from the neutral position and another closable for reversing the motor circuit when the rocking member has been rocked anticlockwise away from the neutral position, a series of cams within said housing, for opening the con- Ymember, and clamping means on said rocking member, one for each adjusting member for clamping a selected point on said adjusting member to a selected point on said rocking member, whereby the cams within the housing may be adjusted outside the housing for arresting said rocking member at selected angular positions.

CHARLES L. PAULUS.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 989,527 Lawson et al. s Apr. 11, 1911 2,019,051 Jeffrey et al Oct. 29, 1935 2,071,177 Puer Feb. 16, 1937 2,183,886 Hjulian Dec. 19, 1939 2,249,237 Fulton L July 15, 1941 2,307,781 Holloman et al Jan. 12, 1943 2,360,179 Urbas et al Oct. 10, 1944 

